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updating switchcontrollers #96

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Merged
beatrizleon merged 1 commit into from
Feb 11, 2020
Merged

updating switchcontrollers #96

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4 changes: 2 additions & 2 deletions ros_ethercat_model/src/ros_ethercat_model/calibrate_class.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ def calibrate(self, controllers):
print("Launched: %s" % ', '.join(launched))

# Starts the launched controllers
self.switch_controller(launched, [], controller_manager_srvs.SwitchControllerRequest.BEST_EFFORT)
self.switch_controller(launched, [], controller_manager_srvs.SwitchControllerRequest.BEST_EFFORT, False, 0)

# Sets up callbacks for calibration completion
waiting_for = launched[:]
Expand All @@ -80,7 +80,7 @@ def calibrated(msg, name): # Somewhat not thread-safe
for name in launched:
try:
resp_stop = self.switch_controller([], [name],
controller_manager_srvs.SwitchControllerRequest.STRICT)
controller_manager_srvs.SwitchControllerRequest.STRICT, False, 0)
if (resp_stop == 0):
rospy.logerr("Failed to stop controller %s" % name)
resp_unload = self.unload_controller(name)
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